JP3015639B2 - 3D measuring device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tertiary method for controlling a probe movement by operating a lever and a switch to register a measurement procedure including a halfway point in advance for collision avoidance and to switch a measurement / movement mode. For the original measuring device.

[0002]

2. Description of the Related Art When a workpiece is automatically measured using a computer-controlled three-dimensional coordinate measuring machine (CMM), a joystick lever and a switch on an operation panel of a control device are operated in advance to operate the three-dimensional coordinate measuring machine. It is necessary to register the measurement procedure while moving. The main measurement procedure is
Intermediate progress point information for avoiding collision between the probe and the workpiece,
The information includes measurement operation information, command information of geometric calculation processing for a plurality of measurement points, and the like.

[0005] The state of registration of a conventional measurement procedure will be described in detail with reference to FIG. FIG. 5 shows the movement of the three-dimensional measurement probe 52 by lever operation necessary for measuring the coordinate position of the a-plane and the b-plane of the work 51. First, with respect to the workpiece 51, the probe 52
Is moved from point A to point B. It stops at this point B, and a switch (GO) for inputting this point as an intermediate point
Press the (TO button). At this point B, a switch (MEAS button) for switching from the movement mode to the measurement mode is pressed. Then, the probe 52 is moved to B by operating the lever.
Move slowly from point to point C to measure. In this measurement mode, the speed is lower than the probe movement speed in the normal movement mode in order to protect the probe 52 and increase the accuracy of the measurement. For example, even when the lever is tilted to the maximum, only a low speed of several mm / sec is generated. Subsequently, by returning the lever to the neutral point, the probe 52 automatically returns from the point C to the point B.

[0004] Next, after returning to the point B, the MEAS button is pressed to switch the measurement / movement mode. And then
The probe 52 is moved from point B to point E via point D by lever operation in order to measure the surface b of the work 51.
Going through the point D is indispensable for avoiding collision between the probe and the work. At this point D, the GOTO button is operated in order to input this as an intermediate point. Then, the GOTO button is pressed at the point E to input an intermediate point, and the mode is switched by pressing the MEAS button. After that, the probe 52 is moved from the point E to the point F by lever operation to perform the b-plane measurement.

[0005]

As described above, in the conventional three-dimensional measuring apparatus, the operator needs many switch operations in addition to lever operation in order to register a measurement procedure. The present invention has been made in view of such circumstances, and an object of the present invention is to provide a three-dimensional measuring apparatus in which the number of switches is reduced and a switch operation for troublesome registration of a measurement procedure is eliminated.

[0006]

According to the present invention, first, the movement of a probe is controlled by operating a lever and a switch to register a measurement procedure including an intermediate point in advance for collision avoidance, and to perform measurement / movement. In the three-dimensional measuring apparatus that performs the mode switching, the movement vector detection means for detecting the movement vector of the probe, and in updating the movement vector at the stop point of the probe, the updated current position is centered on the stop point. Vector change amount determination means for determining whether or not the probe is outside a sphere having a predetermined radius; and in updating the movement vector at the stop point of the probe, the current position after the update is determined based on the vector before the update with the stop point as the vertex. Vector change angle determining means for determining whether or not the cone is outside a cone of a predetermined apex angle having an extended line as a perpendicular ,
The current position is outside the sphere and outside the cone
Means for determining and registering the stop point as an intermediate point when it is determined that there is a stop point.

The second aspect of the present invention is to control a probe movement by operating a lever and a switch to register a measurement procedure including an intermediate point for collision avoidance in advance and to switch between measurement and movement modes. In the original measuring device, a tilt angle detecting means for detecting a tilt angle of the lever, a comparing means for comparing the tilt angle detected by the detecting means with a predetermined threshold value, and a lever in advance according to an output of the comparing means. Is smaller than the threshold value set between the tilt angle of the probe and the moving speed of the probe.
There measuring speed of the first angle range, the second greater than the threshold value
Means for judging mode switching of measurement / movement based on a moving speed pattern having a moving speed in the angle range of (1).

[0008]

According to the first aspect of the present invention, it is automatically determined whether or not the probe stop point, which is focused on the vector change of the probe movement, is an intermediate point, and the intermediate point is determined without requiring the operator to operate the switch. Points can be registered. According to the second aspect, based on a speed pattern set in advance between the probe speed and the lever inclination angle, automatic determination of the measurement mode / movement mode is performed according to the probe speed, and the switch operation of the operator is also required. Mode switching is possible without the need. Therefore, according to the present invention, a switch conventionally used for registration of a measurement procedure or the like can be omitted, and the number of troublesome switch operations can be reduced.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a system configuration of an embodiment.
It has a three-dimensional coordinate measuring machine 11, a control device 12 for controlling and driving the same, and a host computer 13 for controlling the control device 12 and performing data processing. FIG. 2 shows an operation panel of the control device 12. The machine switch group 21 is for operating the front-rear, left-right, and lock of the coordinate measuring machine 11, and the operation switch group 22 is for operating the measuring operation of the coordinate measuring machine 11. The switch 23 is an emergency stop switch, and the switch 24 is a primary stop switch. The joystick lever 26 is for operating the movement of the probe of the coordinate measuring machine 11 in the Z direction and the rotation direction (R direction) of the rotary table. The other joystick lever 27 is also used for the X direction and the X direction. This is for operating the movement in the Y direction.

In this embodiment, the number of switches on the operation panel shown in FIG. 2 is smaller than that of the prior art. That is, a switch (GOTO button shown by a broken line) provided in the operation switch group 22 for inputting an intermediate point, which is provided in the conventional operation switch group 22, is omitted, and a measurement provided adjacent to the conventional switch 24 is omitted. A switch (MEAS switch) for inputting the mode switching of / movement is omitted. With the omission of these switches, as will become clear below, registration of a measurement procedure such as an intermediate point, mode switching, and the like are automatically performed by software only by lever operation.

FIG. 6 is an explanatory diagram of the principle used in this embodiment for automatically registering a halfway point when the probe is moved by lever operation as exemplified in FIG. When the probe moves from the start position A through a sampling point (shown by a black circle) as shown by the lever operation, in this embodiment, the movement vector is updated and the movement stop is determined at each sampling point. Specifically, for example, the motion vector is updated from the current position and the sampling position N times before. At this time, if the vector change amount is smaller than the predetermined distance L, it is determined that the operation is stopped. Now, assume that the point B0 in FIG. 6 is a stop point.

The determination of the input of the halfway point when resuming the movement is performed based on the change amount and the change angle of the movement vector.
That is, assuming a sphere 61 having a predetermined radius R centered on the stop point B0, the current position is outside the sphere 61 (the change amount is a certain level or more), and the stop point B0 is set as the vertex and updated. Predetermined apex angle α with the extension of previous vector as perpendicular
Assuming that the cone 62 is, the current position is outside the cone 62 (the change angle is a certain level or more),
And the stop point B0 is taken in as an intermediate point. In the case of FIG. 6, the above condition is not satisfied when the current position is B1, and the condition is satisfied when the current position becomes B2.

The above-mentioned automatic processing for inputting a halfway point is shown in FIG. 3 by functional blocks. That is, the probe movement vector detecting means 31 is provided, and from the detection result, the vector change amount determining means 32 and the vector change angle determining means 33 determine whether or not each of the above-described determination conditions is satisfied. The halfway point determination means 34 determines the stop point before the vector update as the halfway point when the two determination conditions are satisfied. An intermediate point is automatically registered based on the result of this determination.

Next, the principle of mode switching between measurement and movement will be described. For this switching, a relationship as shown in FIG. 7 is set in advance between the tilt angle θ of the lever and the probe speed. That is, the measuring speed VM is generated when the tilt angle of the lever is in the range of .theta.1 to .theta.2, and the tilt angle .theta.4 to .theta.
The moving speed Vf is generated within the range of MAX. θ2
For example, .theta.3 (speed Va) between .theta.4 and .theta.4 is set as a threshold for determining the measured speed / moving speed.

When the pattern shown in FIG. 7 is used, the inclination angle θ2
In the above description, it is assumed that measurement is not performed in principle and an error is generated (warning display). In practice, however, applying this principle makes lever operation very difficult. Therefore, in this embodiment, the entire range below the threshold value θ3 in FIG. Specifically, the operator can select whether to perform the rough accuracy measurement by using a switch on the operation panel. When the rough accuracy measurement is selected, a threshold value of the tilt angle is determined by operating the lever, and the mode is switched.

For example, referring to FIG. 5, from the point A to the point B, the tilt angle of the lever is operated in the range of .theta.4 to .theta.MAX in FIG. The speed Vf is output, and in the measurement operation from the point B to the point C, the measured angle VM is output by manipulating the tilt angle of the lever in the range of θ1 to θ2 in FIG. FIG. 4 is a block diagram showing the function of automating the measurement / movement mode switching. That is, a lever tilt angle detecting means 41 is provided, and a comparing means 42 for comparing the detection result with the threshold angle θ3 is provided, and the mode switching of the measurement / movement is performed by the mode switching determining means according to the comparison result. .

Next, FIG. 8 shows a flow when the function of registering a halfway point described in FIG. 3 is actually realized by software.
Shown in This process is repeatedly executed from the time when the joystick function is enabled. That is, it is necessary to determine whether or not the stop point is set as an intermediate point when the vehicle starts moving after stopping once and before stopping again,
Therefore, it is necessary to repeat the determination check processing. Therefore, at the time of start, an initial value (INIFLG = 1) is given,
Eliminates the need to judge inside / outside of cone when it starts moving. The difference x between the current position xc and the position xp N times before sampling (the current position information is updated at a constant period) is obtained (S1), and the absolute value thereof is compared with a stop determination constant L to determine the stop / movement. A determination is made (S2). During the stop, the registration possibility flag (MEMFLG = 0) is set (S3
), The current position xc is registered in the midway point registration candidate position xB (S4), and this is repeated during stoppage.

When the movement is started by the joystick, a flow on the left side of FIG. 8, that is, a process of determining whether or not xB should be registered as an intermediate point is started. First, MEM
The FLG determines whether or not it has been registered (S5). If it has already been registered, no determination is made. If not registered, it is determined whether or not the difference between the current position and xB is equal to or greater than R, that is, outside the circle of radius R (S6). If it is determined that it is out of the circle, it is determined whether INIFG = 1 or not (S7).
If it is not the first time, the inside and outside of the cone are determined (S9). If it is determined that the point is outside the cone, xB is formally registered in XB (i) as a halfway point (S10). IN
If IFLG = 1, INIFLG = 0 is set (S8), and registration is performed without performing the inside / outside judgment of the cone.
Then, a registered flag (MEMFLG = 1) is set (S11).

FIG. 10 is a flowchart for generating a speed pattern for the mode switching function described with reference to FIG. Fall angle θ
Is determined (S21), and the measured speed Vm and the moving speed Vf are output (S22, S24) according to the determination result, and the acceleration function V (θ) is output (S23). FIG. 10 is a flowchart of a measurement check process when measurement data is generated by the operation of the probe. First, it is determined whether or not the rough accuracy measurement is instructed (S31). If the rough accuracy measurement is OK, it is determined whether or not the probe speed is equal to or less than Va (S33). A fetch is performed (S34), otherwise an error display is generated (S35). If the rough accuracy measurement is not instructed, it is determined whether or not the probe speed is equal to or lower than VM (S32).

[0020]

As described above, according to the present invention, the registration of the measurement procedure including the halfway point and the switching of the measurement / movement mode are automated, the switch for that is omitted, and the troublesome switch operation is reduced. A three-dimensional measuring device can be obtained.

[Brief description of the drawings]

FIG. 1 shows a system configuration according to an embodiment of the present invention.

FIG. 2 shows an operation panel of the embodiment.

FIG. 3 shows a functional block for inputting an intermediate point in the embodiment.

FIG. 4 shows functional blocks for inputting mode switching according to the embodiment.

FIG. 5 shows how the probe moves in the embodiment.

FIG. 6 shows the principle of midway point determination in the embodiment.

FIG. 7 shows a probe speed pattern of the embodiment.

FIG. 8 shows a flow of midway point registration control of the embodiment.

FIG. 9 shows a flow of generating a speed pattern in the embodiment.

FIG. 10 shows a flow of processing for switching between rough accuracy measurement and normal measurement in the embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 11 ... Three-dimensional coordinate measuring machine, 12 ... Control device, 13 ... Host computer, 21 ... Machine switch group, 22 ... Operation switch group, 25, 26 ... Joystick lever, 31 ... Moving vector detection means, 32 ... Vector change amount Determination means, 33 ... vector change angle determination means,
34: midway point determining means, 41: falling angle detecting means, 4
2. Comparison means, 43 Mode switching determination means, 51 Work, 52 Probe.

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int. Cl. ⁷ , DB name) G01B 21/00-21/32

Claims (3)

(57) [Claims] 1. A three-dimensional measuring apparatus for controlling a probe movement by operating a lever and a switch to register a measurement procedure including an intermediate point for collision avoidance and to switch a measurement / movement mode in advance. A movement vector detecting means for detecting a movement vector of the probe; and in updating the movement vector at the stop point of the probe, whether or not the updated current position is outside a sphere having a predetermined radius centered on the stop point. In determining the vector change amount at the stop point of the probe, the current position after the update is a cone of a predetermined apex angle having the stop point as a vertex and an extension of the vector before the update as a perpendicular. Vector change angle judging means for judging whether or not the ball is outside; and the current position updated by these judging means is outside the sphere.
And a means for determining and registering the stop point as an intermediate point when it is determined that the stop point is outside the cone . 2. A three-dimensional measuring apparatus for controlling probe movement by operating a lever and a switch to register a measurement procedure including an intermediate point for collision avoidance and to switch a measurement / movement mode in advance. A tilt angle detecting means for detecting a tilt angle of the lever; a comparing means for comparing the tilt angle detected by the detecting means with a predetermined threshold value; and a tilt angle of the lever and a probe movement in advance according to an output of the comparing means. speed the threshold value smaller than the first set between the angle range of the measurement speed, means for determining the mode switching measured / moving based on the moving speed pattern to the moving speed second angular range greater than the threshold value And a three-dimensional measuring device. 3. The three-dimensional measuring apparatus according to claim 2, further comprising a selection unit that selects rough accuracy measurement in a range where the tilt angle is smaller than the threshold value and larger than the first angle range.